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Handle filter

Kyrre Ness Sjobaek requested to merge filter into master

This code should be able to handle the filter on both the Arduino and Matlab side.

Note especially that (1) the actual filter_in and filter_out positions, and filter_servo_pin must be set in the arduino code, and (2) API change in the MATLAB callback, it now requires one more argument, which is true when something has changed with the filter.

New in the Matlab code is that emergency stop now always triggers callback, with all 3 actuator flags set to true.

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